Map area processing method

Abstract

According to the map area processing method, firstly, an elevation segmentation method or a grid segmentation method or a midpoint segmentation coding method is adopted to divide a non-planar area into planarized areas, then, an Ear-clipping algorithm is adopted to cut required triangles, and finally, merging processing is performed to obtain a 0, 1 digital map. Compared with the prior art, the method has the following advantages: an elevation segmentation method, a grid segmentation method and a midpoint segmentation coding method are adopted to convert a non-planar area graph into a planar area; then, an Ear clipping algorithm is used for carrying out region cutting; and finally, whether the moving point performs 0, 1 digital map making in the map area is judged by utilizing the reference point, and finally converting into 0, 1 binary image storage. Compared with a simple method for cutting a simple polygon by using an earlipping algorithm, the method solves the problem that a non-plane cannot be cut, enlarges the use scene, and brings convenience to the production of an actual digital map.

Description

technical field [0001] The present invention relates to the technical field of map area processing, in particular to a map area processing method. Background technique [0002] In automatic driving, the 0-1 digital map with a fixed grid size is often used to filter the region of interest, to realize easier processing of sensor data such as lidar, and to generate the 0-1 map, which is often generated by algorithms such as ear-clipping. [0003] The Ear Clipping algorithm is used to decompose an ordinary polygon into a series of triangles. The vertices of these triangles all come from the original ordinary polygon. Currently, converting a simple polygon into a set of triangles composed of the same vertices is a computer graphics. A classic problem, Ear Clipping used in the game Spore to subdivide the custom limb model. [0004] The traditional Ear Clipping algorithm can only cut simple polygons into triangles. If it is not on a plane, for example, if there is a concave-convex...

AI Technical Summary

Problems solved by technology

[0004] The traditional Ear Clipping algorithm can only cut simple polygons into triangles. If it is not on a plane, for example, if there is a bump in the polygon area that cannot form a plane, then this algorithm cannot perform multi-deformation cutting.

Therefore, we use multi-level regional division to divide the concave-convex area into different levels of area planes, and use the area map composed of points positioned by our RTK to cut with the ear-clipping algorithm. Due to the large diameter of the earth, for a small area, it can be approximated as It is a plane; but if a larger area is segmented, due to the arc shape of the earth's surface, the generated 0-1 digital map has a large error from the actual map, which affects the accuracy of the data used for filtering or processing

Traditional cutting can't do this kind of work, so we need to convert the area segmentation into similar simple polygon processing according to the positioning data to generate 01 digital map

[0005] At present, the existing technology cannot achieve triangle cutting in non-planar conditions, so it is impossible to obtain our 01 digital map by judging whether the point is within the triangle:

[0006] 1: First of all, due to the influence of terrain, our regional map cannot be processed as a plane after exceeding a certain range, and the existing technology solves the triangle segmentation of simple polygons on the plane

[0007] 2: For the cut triangles, we regard each triangle as our area of ​​interest, which is the effective area of ​​the map. If a moving point is judged to be within the area triangle, we set it to 1, otherwise it is 0, which cannot be obtained with the existing technology We are exactly triangular, which is invalid for non-planar

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